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AP_HAL_Linux: Scheduler: use PeriodicThread

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Some tasks were not accounting for the time to execute the tasks. Now
that we are using the infra from PeriodicThread all of them are.
This commit is contained in:
Lucas De Marchi 2016-02-03 03:13:57 -02:00
parent 48e81c8589
commit a1b62b4984
2 changed files with 42 additions and 73 deletions
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110
libraries/AP_HAL_Linux/Scheduler.cpp
View File

@ -36,20 +36,20 @@ extern const AP_HAL::HAL& hal;
#define APM_LINUX_TONEALARM_PRIORITY 11
#define APM_LINUX_IO_PRIORITY 10
#define APM_LINUX_TIMER_RATE 1000
#define APM_LINUX_UART_RATE 100
#if CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_NAVIO || \
CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_ERLEBRAIN2 || \
CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_BH || \
CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_PXFMINI
#define APM_LINUX_UART_PERIOD 10000
#define APM_LINUX_RCIN_PERIOD 500
#define APM_LINUX_TONEALARM_PERIOD 10000
#define APM_LINUX_IO_PERIOD 20000
#define APM_LINUX_RCIN_RATE 2000
#define APM_LINUX_TONEALARM_RATE 100
#define APM_LINUX_IO_RATE 50
#else
#define APM_LINUX_UART_PERIOD 10000
#define APM_LINUX_RCIN_PERIOD 10000
#define APM_LINUX_TONEALARM_PERIOD 10000
#define APM_LINUX_IO_PERIOD 20000
#endif // CONFIG_HAL_BOARD_SUBTYPE
#define APM_LINUX_RCIN_RATE 100
#define APM_LINUX_TONEALARM_RATE 100
#define APM_LINUX_IO_RATE 50
#endif
Scheduler::Scheduler()
{ }
@ -65,6 +65,12 @@ void Scheduler::init()
struct sched_param param = { .sched_priority = APM_LINUX_MAIN_PRIORITY };
sched_setscheduler(0, SCHED_FIFO, &param);
_timer_thread.set_rate(APM_LINUX_TIMER_RATE);
_uart_thread.set_rate(APM_LINUX_UART_RATE);
_rcin_thread.set_rate(APM_LINUX_RCIN_RATE);
_tonealarm_thread.set_rate(APM_LINUX_TONEALARM_RATE);
_io_thread.set_rate(APM_LINUX_IO_RATE);
/* set barrier to 6 threads: worker threads below + main thread */
pthread_barrier_init(&_initialized_barrier, nullptr, 6);
_timer_thread.start("sched-timer", SCHED_FIFO, APM_LINUX_TIMER_PRIORITY);
@ -227,7 +233,7 @@ void Scheduler::resume_timer_procs()
_timer_semaphore.give();
}
void Scheduler::_run_timers()
void Scheduler::_timer_task()
{
int i;
@ -237,7 +243,7 @@ void Scheduler::_run_timers()
_in_timer_proc = true;
if (!_timer_semaphore.take(0)) {
printf("Failed to take timer semaphore in _run_timers\n");
printf("Failed to take timer semaphore in %s\n", __PRETTY_FUNCTION__);
}
// now call the timer based drivers
for (i = 0; i < _num_timer_procs; i++) {
@ -248,8 +254,7 @@ void Scheduler::_run_timers()
#if CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_RASPILOT
//SPI UART use SPI
if (!((RPIOUARTDriver *)hal.uartC)->isExternal() )
{
if (!((RPIOUARTDriver *)hal.uartC)->isExternal()) {
((RPIOUARTDriver *)hal.uartC)->_timer_tick();
}
#endif
@ -276,37 +281,16 @@ void Scheduler::_run_timers()
}
_in_timer_proc = false;
}
void Scheduler::_timer_task()
{
/*
this aims to run at an average of 1kHz, so that it can be used
to drive 1kHz processes without drift
*/
uint64_t next_run_usec = AP_HAL::micros64() + 1000;
while (true) {
uint64_t dt = next_run_usec - AP_HAL::micros64();
if (dt > 2000) {
// we've lost sync - restart
next_run_usec = AP_HAL::micros64();
} else {
microsleep(dt);
}
next_run_usec += 1000;
// run registered timers
_run_timers();
#if HAL_LINUX_UARTS_ON_TIMER_THREAD
/*
some boards require that UART calls happen on the same
thread as other calls of the same time. This impacts the
QFLIGHT calls where UART output is an RPC call to the DSPs
*/
_run_uarts();
RCInput::from(hal.rcin)->_timer_tick();
/*
some boards require that UART calls happen on the same
thread as other calls of the same time. This impacts the
QFLIGHT calls where UART output is an RPC call to the DSPs
*/
_run_uarts();
RCInput::from(hal.rcin)->_timer_tick();
#endif
}
}
void Scheduler::_run_io(void)
@ -325,16 +309,6 @@ void Scheduler::_run_io(void)
_io_semaphore.give();
}
void Scheduler::_rcin_task()
{
while (true) {
microsleep(APM_LINUX_RCIN_PERIOD);
#if !HAL_LINUX_UARTS_ON_TIMER_THREAD
RCInput::from(hal.rcin)->_timer_tick();
#endif
}
}
/*
run timers for all UARTs
*/
@ -354,37 +328,33 @@ void Scheduler::_run_uarts()
UARTDriver::from(hal.uartE)->_timer_tick();
}
void Scheduler::_rcin_task()
{
#if !HAL_LINUX_UARTS_ON_TIMER_THREAD
RCInput::from(hal.rcin)->_timer_tick();
#endif
}
void Scheduler::_uart_task()
{
while (true) {
microsleep(APM_LINUX_UART_PERIOD);
#if !HAL_LINUX_UARTS_ON_TIMER_THREAD
_run_uarts();
_run_uarts();
#endif
}
}
void Scheduler::_tonealarm_task()
{
while (true) {
microsleep(APM_LINUX_TONEALARM_PERIOD);
// process tone command
Util::from(hal.util)->_toneAlarm_timer_tick();
}
// process tone command
Util::from(hal.util)->_toneAlarm_timer_tick();
}
void Scheduler::_io_task()
{
while (true) {
microsleep(APM_LINUX_IO_PERIOD);
// process any pending storage writes
Storage::from(hal.storage)->_timer_tick();
// process any pending storage writes
Storage::from(hal.storage)->_timer_tick();
// run registered IO procepsses
_run_io();
}
// run registered IO processes
_run_io();
}
bool Scheduler::in_timerprocess()
@ -436,5 +406,5 @@ bool Scheduler::SchedulerThread::_run()
_sched._wait_all_threads();
return Thread::_run();
return PeriodicThread::_run();
}

5
libraries/AP_HAL_Linux/Scheduler.h
View File

@ -45,10 +45,10 @@ public:
void microsleep(uint32_t usec);
private:
class SchedulerThread : public Thread {
class SchedulerThread : public PeriodicThread {
public:
SchedulerThread(Thread::task_t t, Scheduler &sched)
: Thread(t)
: PeriodicThread(t)
, _sched(sched)
{ }
@ -102,7 +102,6 @@ private:
void _uart_task();
void _tonealarm_task();
void _run_timers();
void _run_io();
void _run_uarts();
bool _register_timesliced_proc(AP_HAL::MemberProc, uint8_t);